U.S. patent application number 13/853267 was filed with the patent office on 2013-10-31 for variably flexible pipe and manipulator.
The applicant listed for this patent is SAMSUNG ELECTRONICS CO., LTD., MASSACHUSETTS INSTITUTE OF TECHNOLOGY. Invention is credited to Shan Bao Cheng, Karl Iagnemma, Sang Bae Kim, Yong Jae KIM.
Application Number | 20130289478 13/853267 |
Document ID | / |
Family ID | 48190700 |
Filed Date | 2013-10-31 |
United States Patent
Application |
20130289478 |
Kind Code |
A1 |
KIM; Yong Jae ; et
al. |
October 31, 2013 |
VARIABLY FLEXIBLE PIPE AND MANIPULATOR
Abstract
Disclosed herein is a variably flexible pipe including at least
one flap member having variable flexibility and a tube formed of an
elastically deformable material and accommodating the at least one
flap member, and a manipulator having the same. The at least one
flap member may include a plurality flap parts and a connection
part to which one side of each of the plurality of flap parts is
connected, and the tube changes pressure applied to the plurality
of flap parts according to a controlled change of the inner
pressure of the tube, thereby causing the variably flexible pipe to
be effectively selectively maintained in a deformed state.
Inventors: |
KIM; Yong Jae; (Seoul,
KR) ; Cheng; Shan Bao; (Cambridge, MA) ; Kim;
Sang Bae; (Cambridge, MA) ; Iagnemma; Karl;
(Cambridge, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SAMSUNG ELECTRONICS CO., LTD.;
TECHNOLOGY; MASSACHUSETTS INSTITUTE OF |
|
|
US
US |
|
|
Family ID: |
48190700 |
Appl. No.: |
13/853267 |
Filed: |
March 29, 2013 |
Current U.S.
Class: |
604/95.04 ;
138/137 |
Current CPC
Class: |
A61B 1/00078 20130101;
A61M 25/0155 20130101; A61M 25/0043 20130101; A61M 25/0147
20130101; A61B 1/0055 20130101; F16L 11/12 20130101; A61M 2025/0063
20130101 |
Class at
Publication: |
604/95.04 ;
138/137 |
International
Class: |
A61M 25/01 20060101
A61M025/01; F16L 11/12 20060101 F16L011/12 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 30, 2012 |
KR |
10-2012-0033479 |
Claims
1. A variably flexible pipe comprising: a longitudinal pipe
structure, with a hollow interior, configured to have variable
flexibility, the variable flexibility being created by plural
components of the longitudinal structure that are configured to
move relative to each other differently according to at least a
first state and second state, the first state being where the
plural components move relative to each other dependent on a first
friction generated by the variably flexible pipe between the plural
components, and the second state being where the plural components
move relative to each other based on a second friction generated by
the variably flexible pipe between the plural components, with the
first friction being less than the second friction; and a tube
formed of a deformable material configured to cover the plural
components and to control the longitudinal structure to selectively
be in one of the first state and the second state based on a
difference between a controllable pressure inside the tube and a
pressure outside of the tube.
2. The variably flexible pipe of claim 1, wherein: the longitudinal
structure includes at least one flap member having variable
flexibility and the plural components are components of the at
least one flap member and include a plurality of flap parts and a
connection part to which one side of each of the plurality of flap
parts is connected; and the tube is formed of an elastically
deformable material and accommodates the at least one flap member,
wherein the longitudinal structure is controlled to be in the one
of the first state and the second state based upon a change in
pressure transmitted to the plurality of flap parts according to a
controllable change in the pressure inside the tube.
3. The variably flexible pipe according to claim 2, wherein the
longitudinal structure further comprises a plurality of link
members formed in respective ring shapes and sequentially disposed
in the longitudinal direction of the longitudinal structure,
wherein: the at least one flap member is disposed on
circumferentially outer surfaces of the plurality of link members;
and the tube is installed so as to cover the circumferentially
outer surface of the at least one flap member and circumferentially
inner surfaces of the plurality of link members.
4. The variably flexible pipe according to claim 3, wherein each of
the plurality of link members includes: a pair of first hinge parts
provided at different positions along a first surface of each of
the plurality of link members and connected to a link member
neighboring the first surface; and a pair of second hinge parts
provided at different positions along a second surface,
distinguished from the first surface, of each of the plurality of
link members and connected to a link member neighboring the second
surface.
5. The variably flexible pipe according to claim 4, wherein the
pair of first hinge parts and the pair of second hinge parts are
provided at the respectively different positions separated by an
angle of 90.degree. in the circumferential direction.
6. The variably flexible pipe according to claim 4, wherein: the
first hinge parts include hinge protrusions protruded in a circular
shape and rotatably installed in the second hinge parts; and the
second hinge parts include hinge recesses indented in a circular
shape so that the hinge protrusions are rotatably installed in the
hinge recesses.
7. The variably flexible pipe according to claim 4, wherein: the at
least one flap member includes a pair of flap members covering the
pair of first hinge parts and the pair of second hinge parts
connecting two neighboring link members; and the pair of flap
members includes a first flap member, the plurality of flap parts
of which is extended in a first direction and covers the pair of
first hinge parts and the pair of second hinge parts, and a second
flap member, the plurality of flap parts of which is extended in a
second direction different from the first direction and covers the
pair of first hinge parts and the pair of second hinge parts.
8. The variably flexible pipe according to claim 3, wherein the at
least one flap member includes a plurality of flap members
respectively disposed on the outer circumferential surfaces of the
plurality of link members in a ring shape.
9. The variably flexible pipe according to claim 2, wherein: the
least one flap member is bent in a spiral shape so as to form a
tubular shape; and the tube is formed so as to cover an outer
surface and an inner surface of the at least one flap member bent
in the spiral shape.
10. The variably flexible pipe according to claim 9, wherein the
plurality of flap parts extend from the connection part of the flap
member in one direction.
11. The variably flexible pipe according to claim 9, wherein the
plurality of flap parts extend from the connection part in two
directions.
12. The variably flexible pipe according to claim 2, wherein the
plurality of flap parts extend from the connection part so as to
have a width that gradually decreases from the connection part.
13. A manipulator comprising: a variably flexible pipe, flexibility
of which is selectively changed; a plurality of wires configured to
pas through the variably flexible pipe and connected to a front end
of the variably flexible pipe; and a plurality of actuators
respectively configured to apply force to the plurality of wires so
as to bend the variably flexible pipe, wherein the variably
flexible pipe includes a longitudinal pipe structure, with a hollow
interior, configured to have variable flexibility, the variable
flexibility being created by plural components of the longitudinal
structure that are configured to move relative to each other
differently according to at least a first state and second state,
the first state being where the plural components move relative to
each other dependent on a first friction generated by the variably
flexible pipe between the plural components, and the second state
being where the plural components move relative to each other based
on a second friction generated by the variably flexible pipe
between the plural components, with the first friction being less
than the second friction; and a tube formed of a deformable
material configured to cover the plural components and to control
the longitudinal structure to selectively be in one of the first
state and the second state based on a difference between a
controllable pressure inside the tube and a pressure outside of the
tube.
14. The manipulator according to claim 13, further comprising a
pneumatic pump controlling a change in the pressure inside the tube
to control the longitudinal structure to be in one of the first
state and second state.
15. The manipulator according to claim 13, wherein: the
longitudinal structure includes at least one flap member having
variable flexibility and the plural components are components of
the one flap member and include a plurality of flap parts and a
connection part to which one side of each of the plurality of flap
parts is connected; and the tube is formed of an elastically
deformable material and accommodates the at least one flap member,
wherein the longitudinal structure is controlled to be in the one
of the first state and the second state based upon a change in
pressure transmitted to the plurality of flap parts according to a
controllable change in the pressure inside the tube.
16. The manipulator according to claim 15, wherein the longitudinal
structure further includes a plurality of link members formed in
respective ring shapes and sequentially disposed in the
longitudinal direction of the longitudinal structure, wherein: the
at least one flap member is disposed on circumferentially outer
surfaces of the plurality of link members; and the tube is
installed so as to cover the circumferentially outer surface of the
at least one flap member and circumferentially inner surfaces of
the plurality of link members.
17. The manipulator according to claim 16, wherein each of the
plurality of link members includes: a pair of first hinge parts
provided at different positions along a first surface of each of
the plurality of link members and connected to a link member
neighboring the first surface; and a pair of second hinge parts
provided at different positions along a second surface,
distinguished from the first surface, of each of the plurality of
link members and connected to another link member neighboring the
second surface.
18. The manipulator according to claim 17, wherein the pair of
first hinge parts and the pair of second hinge parts are provided
at the respectively different positions separated by an angle of
90.degree. in the circumferential direction.
19. The manipulator according to claim 17, wherein: the first hinge
parts include hinge protrusions protruded in a circular shape and
rotatably installed in the second hinge parts; and the second hinge
parts include hinge recesses indented in a circular shape so that
the hinge protrusions are rotatably installed in the hinge
recesses.
20. The manipulator according to claim 17, wherein: the at least
one flap member includes a pair of flap members covering the pair
of first hinge parts and the pair of second hinge parts connecting
two neighboring link members; and the pair of flap members includes
a first flap member, the plurality of flap parts of which is
extended in a first direction and covers the pair of first hinge
parts and the pair of second hinge parts, and a second flap member,
the plurality of flap parts of which is extended in a second
direction different from the first direction and covers the pair of
first hinge parts and the pair of second hinge parts.
21. The manipulator according to claim 16, wherein the least one
flap member includes a plurality of flap members respectively
disposed on the outer circumferential surfaces of the plurality of
link members in a ring shape.
22. The manipulator according to claim 15, wherein: the least one
flap member is bent in a spiral shape so as to form a tubular
shape; and the tube is formed so as to cover an outer surface and
an inner surface of the at least one flap member bent in the spiral
shape.
23. The manipulator according to claim 22, wherein the plurality of
flap parts extend from the connection part in one direction.
24. The manipulator according to claim 22, wherein the plurality of
flap parts extend from the connection part in two directions.
25. The manipulator according to claim 15, wherein the plurality of
flap parts extend from the connection part so as to have a width
that gradually decreases from the connection part.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of Korean Patent
Application No. 2012-0033479, filed on Mar. 30, 2012 in the Korean
Intellectual Property Office, the disclosure of which is
incorporated herein by reference.
BACKGROUND
[0002] 1. Field
[0003] One or more embodiments relate to a variably flexible pipe
and manipulator, and more particularly, one or more embodiments
relate to a selectively changed flexibility of such a variably
flexible pipe and manipulator for the same.
[0004] 2. Description of the Related Art
[0005] A manipulator may be a device that can be used for minimally
invasive surgery procedures, for example, and may include a
flexible pipe that may be inserted into one or more cavities of a
body and/or inserted toward a particular position within the body,
such as through one or more surgically created openings in a human
body.
[0006] As only an example, this flexible pipe may be flexibly
deformed, such as by a surgeon that is controlling the manipulator,
during the process where the flexible pipe is inserted into the one
or more cavities and/or toward the particular position, and
typically requires controlling the wires of the flexible pipe to
maintain a final deformation or flexing upon the flexible pipe
reaching a surgical site within the body. Then a surgical
instrument may be inserted into the body, e.g., through the
flexible pipe, and then manipulated at the surgical sight from
outside the body.
SUMMARY
[0007] Therefore, one or more embodiments provide a variably
flexible pipe, flexibility of which is selectively changed, and a
manipulator having the same.
[0008] One or more embodiments include a variably flexible pipe
including a longitudinal pipe structure, with a hollow interior,
configured to have variable flexibility, the variable flexibility
being created by plural components of the longitudinal structure
that are configured to move relative to each other differently
according to at least a first state and second state, the first
state being where the plural components move relative to each other
dependent on a first friction generated by the variably flexible
pipe between the plural components, and the second state being
where the plural components move relative to each other based on a
second friction generated by the variably flexible pipe between the
plural components, with the first friction being less than the
second friction, and a tube that may be formed of a deformable
material configured to cover the plural components and to control
the longitudinal structure to selectively be in one of the first
state and the second state based on a difference between a
controllable pressure inside the tube and a pressure outside of the
tube.
[0009] One or more embodiments include a manipulator including a
variably flexible pipe, flexibility of which is selectively
changed, a plurality of wires configured to pas through the
variably flexible pipe and connected to a front end of the variably
flexible pipe, and a plurality of actuators respectively configured
to apply force to the plurality of wires so as to bend the variably
flexible pipe, wherein the variably flexible pipe may include a
longitudinal pipe structure, with a hollow interior, configured to
have variable flexibility, the variable flexibility being created
by plural components of the longitudinal structure that are
configured to move relative to each other differently according to
at least a first state and second state, the first state being
where the plural components move relative to each other dependent
on a first friction generated by the variably flexible pipe between
the plural components, and the second state being where the plural
components move relative to each other based on a second friction
generated by the variably flexible pipe between the plural
components, with the first friction being less than the second
friction, and a tube that may be formed of a deformable material
configured to cover the plural components and to control the
longitudinal structure to selectively be in one of the first state
and the second state based on a difference between a controllable
pressure inside the tube and a pressure outside of the tube.
[0010] The manipulator may further include a pneumatic pump
controlling a change in the pressure inside the tube to control the
longitudinal structure to be in one of the first state and second
state.
[0011] The longitudinal structure may include at least one flap
member having variable flexibility and the plural components may be
components of the at least one flap member and include a plurality
of flap parts and a connection part to which one side of each of
the plurality of flap parts is connected, and the tube may be
formed of an elastically deformable material and accommodates the
at least one flap member, wherein the longitudinal structure may be
controlled to be in the one of the first state and the second state
based upon a change in pressure transmitted to the plurality of
flap parts according to a controllable change in the pressure
inside the tube.
[0012] The longitudinal structure may further include a plurality
of link members formed in respective ring shapes and sequentially
disposed in the longitudinal direction of the longitudinal
structure, wherein the at least one flap member may be disposed on
circumferentially outer surfaces of the plurality of link members,
and the tube may be installed so as to cover the circumferentially
outer surface of the at least one flap member and circumferentially
inner surfaces of the plurality of link members.
[0013] Each of the plurality of link members may a pair of first
hinge parts provided at different positions along a first surface
of each of the plurality of link members and connected to a link
member neighboring the first surface, and a pair of second hinge
parts provided at different positions along a second surface,
distinguished from the first surface, of each of the plurality of
link members and connected to a link member neighboring the second
surface.
[0014] The pair of first hinge parts and the pair of second hinge
parts may be provided at the respectively different positions
separated by an angle of 90.degree. in the circumferential
direction.
[0015] The first hinge parts may include hinge protrusions
protruded in a circular shape and rotatably installed in the second
hinge parts, and the second hinge parts may include hinge recesses
indented in a circular shape so that the hinge protrusions are
rotatably installed in the hinge recesses.
[0016] The at least one flap member may further include a pair of
flap members covering the pair of first hinge parts and the pair of
second hinge parts connecting two neighboring link members, and the
pair of flap members may further include a first flap member, the
plurality of flap parts of which is extended in a first direction
and covers the pair of first hinge parts and the pair of second
hinge parts, and a second flap member, the plurality of flap parts
of which is extended in a second direction different from the first
direction and covers the pair of first hinge parts and the pair of
second hinge parts.
[0017] The at least one flap member includes a plurality of flap
members respectively disposed on the outer circumferential surfaces
of the plurality of link members in a ring shape.
[0018] The least one flap member may be bent in a spiral shape so
as to form a tubular shape, and the tube may be formed so as to
cover an outer surface and an inner surface of the at least one
flap member bent in the spiral shape.
[0019] The plurality of flap parts may extend from the connection
part of the flap member in one direction.
[0020] The plurality of flap parts may extend from the connection
part in two directions.
[0021] The plurality of flap parts may extend from the connection
part so as to have a width that gradually decreases from the
connection part.
[0022] Additional aspects and/or advantages will be set forth in
part in the description which follows and, in part, will be
apparent from the description, or may be learned by practice of one
or more embodiments of the present invention.
BRIEF DESCRIPTION OF THE DRAWINGS
[0023] These and/or other aspects will become apparent and more
readily appreciated from the following description of embodiments,
taken in conjunction with the accompanying drawings of which:
[0024] FIG. 1 is a schematic view of a manipulator, according to
one or more embodiments;
[0025] FIG. 2 is a perspective view of a variably flexible pipe,
such as applied in the manipulator of FIG. 1, according to one or
more embodiments;
[0026] FIG. 3 is an exploded perspective view of a variably
flexible pipe, such as applied in the manipulator of FIG. 1,
according to one or more embodiments;
[0027] FIG. 4 is a cross-sectional view of a variably flexible
pipe, such as applied in the manipulator of FIG. 1, according to
one or more embodiments;
[0028] FIGS. 5 and 6 are cross-sectional views illustrating an
operation of a variably flexible pipe, such as applied in the
manipulator of FIG. 1, according to one or more embodiments;
[0029] FIG. 7 is an exploded perspective view of a variably
flexible pipe applied in a manipulator, according to one or more
embodiments;
[0030] FIG. 8 is a cross-sectional view of a variably flexible
pipe, such as applied in a manipulator, according to one or more
embodiments;
[0031] FIG. 9 is an exploded perspective view of a flap member,
such as applied in a manipulator, according to one or more
embodiments; and
[0032] FIG. 10 is an exploded perspective view of a flap member,
such as applied in a manipulator, according to one or more
embodiments.
DETAILED DESCRIPTION
[0033] Reference will now be made in detail to one or more
embodiments, illustrated in the accompanying drawings, wherein like
reference numerals refer to like elements throughout. In this
regard, embodiments may be embodied in many different forms and
should not be construed as being limited to embodiments set forth
herein. Accordingly, embodiments are merely described below, by
referring to the figures, to explain aspects of the present
invention.
[0034] As shown in FIG. 1, according to one or more embodiments, a
manipulator may include one or more variably flexible pipes 10,
flexibility of which may be selectively changed. In one or more
embodiments, the manipulator may include a plurality of wires 20
that may pass through the variably flexible pipe 10 so that one end
of one or more of the plural wires 20 is installed or terminates at
a first end, i.e., a front end, of the variably flexible pipe 10,
for example. One or more actuators 30 may be respectively connected
to the other ends of the plural wires 20 before the plural wires 20
initially enter a second end, i.e., the trailing end, of the
variably flexible pipe 10 and may be controlled to control an
application of force to the wires 20 so as to selectively deform
the variably flexible pipe 10. In one or more embodiments, the
manipulator may further include a pneumatic pimp 40 controlling a
transmitting of pneumatic pressure to an inside of a tube 14, which
will be described in greater detail further below. Although FIG. 1
exemplarily illustrates three wires 20 and three actuators 30, the
number of the wires 20 and the number of the actuators 30 are not
limited thereto. Similarly, embodiments are not limited to using
wires, actuators, and/or pneumatic pumps, but may use components
that achieve similar goals for controlling the variably flexible
pipe 10, as only an example.
[0035] In one or more embodiments, the variably flexible pipe 10
may be controlled to be extended or shortened to have a designated
length and, as shown in FIGS. 2 to 4 as only respective examples,
may include one or more of a plurality of flap members 11,
flexibility of which may be selectively controlled, a plurality of
link members 12 that may form a ring shape and be sequentially
provided in a longitudinal direction of the variably flexible pipe
10, and the tube 14 installed so as to cover the inner surfaces of
the link members 12 and/or the outer surfaces of the flap members
11. In one or more embodiments an inner tube pressure of the
variably flexible pipe 10, such as within an inner surface of the
variably flexible pipe 10, as formed by the tube 14, may be
controlled to change, such as by controlling the pneumatic pressure
transmitted from the pneumatic pump 40, as only an example.
Further, in one or more embodiments an end cap 13 may be connected
to a link member 12, e.g., on which the above-described ends of the
wires 20 may be installed or terminate, so the end cap 13 may be
disposed at the first end of the variably flexible pipe 10.
[0036] In one or more embodiments, each of the example flap members
11 may include plural flap parts 11a extended in one direction and
a connection part 11b that may be connected to one side of each of
the plural flap parts 11a. The connection part 11b may be bent in a
ring shape so that the flap member 11 is formed in the ring shape,
and may be disposed along an outer circumferential surface of at
least the above-described link member 12, as only an example. In an
embodiment, the flap parts 11a may be extended in a direction from
or toward the second end, i.e., the trailing end, of the variably
flexible pipe 10 so that the flap parts 11a have a width that
gradually decreases from the connection part 11b. As noted, in one
or more embodiments, the plural flap parts 11a and the connection
part 11b may be formed along an outer circumference of the link
member 12, but embodiments are not limited to the same.
[0037] In one or more embodiments, each link member 12 may include
a pair of first hinge parts 12a provided at different positions
along a first surface of a link member 12 facing the first end of
the variably flexible pipe 10 and connected to another link member
12 adjacent to the first surface, and the pair of second hinge
parts 12b of the link member 12 may be provided at different
positions along a second surface of the link member 12 facing the
second end of the variably flexible pipe 10 and connected to
another link member 12 adjacent the second surface. In one or more
embodiments, plural link members 12 may be stacked with such
respective interlocking or connected first hinge parts 12a and
second hinge parts 12b of adjacent like members 12. In one or more
embodiments, such interlocking or connecting of the first hinge
parts 12a and second hinge parts 12b may still provide the
capability for adjacent link members 12 to rotate or move relative
to each other.
[0038] In such an embodiment, and only as a non-limiting example,
first hinge parts 12a may be hinge protrusions that protrude from
at least one surface of a corresponding link member 12, e.g., each
protruding with in a circular shape, as only an example, and second
hinge parts 12b on at least another surface of the corresponding
link member 12 may be represented by hinge recesses, e.g., indented
in such a circular shape, and thus multiple link members 12 may be
sequentially installed so as to be rotatable with each other within
at least a designated angle, for example. In an embodiment, at
least a pair of first hinge parts 12a and at least a pair of second
hinge parts 12b provided on respective surfaces of one link member
12 may be provided on each surface and separated on each surface by
an angle of 90.degree. in the circumferential direction, as only an
example. Although such an embodiment may represent the first hinge
parts 12a as hinge protrusions and the second hinge parts 12b as
hinge recesses, the first hinge parts 12a and the second hinge
parts 12b are not limited thereto, as alternate linking elements
between such sequential link members may equally be applied and/or
utilized.
[0039] In one or more embodiments, the tube 14 may be formed to
have a shape, e.g., a donut shaped cross section, such that an
outer surface 14a along an inner circumference of the tube 14
produces a longitudinally hollow space, and such that an inner
surface 14b along an outer circumference of the tube 14
longitudinally encapsulates the flap members 11 within the tube 14.
In one or more embodiments the tube 14 may be a single longitudinal
tube, as only an example. In one or more embodiments the tube 14
may be one or more layers of a material or different materials. The
link members 12 and the flap members 11 may accordingly be both
accommodated in the tube 14, and the tube 14 may formed of a
material which is elastically deformable according to the inner
pressure thereof, such as latex rubber, as only an example. In one
or more embodiments the inner circumference of the tube 14 and/or
the outer circumference of the tube 14 may be made of one or more
materials that provides sufficient non-reactiveness, durability,
strength, and protection for surgical procedures and for an
insertion of one or more surgical tools through the tube 14 to
perform a surgical act at the surgery site, as only an example. In
one or more embodiments, one or more inner pressures of such a tube
14 may be controlled to be changed according to pressure being
controlled to be transmitted from the pneumatic pump 40, as only an
example, so that a change in pressure is applied to one or more of
the flap members 11 provided in the tube 14.
[0040] Initially, a pressure sensitive element may be injected into
the tube 14 through the pneumatic pump 40, as only an example, so
that an inner pressure of the tube 14 becomes equal to or greater
than atmospheric pressure, such as shown in FIG. 5, again as only
an example. In one or more embodiments, if the variably flexible
pipe is used in an environment where the local environment
surrounding the variably flexible pipe is a higher or lower
pressure than the referenced atmospheric pressure, then the local
higher or lower pressure should be referred to instead of the
atmospheric pressure. In one or more embodiments, the pressure
sensitive element is a gas, and the gas may further be
environmental or filtered air, depending on the environment the
variably flexible pipe is expected to be used in. In order to cause
frictional force to act between the flap parts 11a, pressure or
force needs to be applied to the flap parts 11a. In one or more
embodiments, a compression force may selectively be caused to be
applied to the flap parts 11a so as to selectively increase the
frictional force sufficiently that the flap parts 11a are
compressed against one or more of other flap parts 11, link members
12, and/or the connection part 11b. Alternatively, in one or more
embodiments, when the inner pressure of the tube 14 is caused to be
equal to or greater than an exterior atmospheric pressure,
compressing forces that would have been applied to the flap parts
11a, e.g., by the exterior atmospheric pressure against the
exterior wall of the tube 14 when there is insufficient spacing
between the exterior wall of the tube 14 and the flap parts, may be
offset by the inner pressure of the tube 14 being equal or greater
than the atmospheric pressure. In such a state, with little or less
frictional force being generated between the flap parts 11a of the
flap members 11 disposed in the tube 14, even if frictional force
is generated between components of the variably flexible pipe, such
frictional forces may be selectively controlled to be very low.
Accordingly, with little or less frictional force being generated
between components of the variably flexible pipe, the flap parts
11a may easily slide along the surfaces of the neighboring flap
parts 11a and move relative to each other. Therefore, as only an
example, with such little or less frictional force, when the
variably flexible pipe 10 is deformed and/or inserted in or through
an opening of a body, e.g., by applying longitudinal and/or lateral
forces thereto or manipulation of wires 20, the variably flexible
pipe 10 may be easily deformed, e.g., by wires 20, to a desired
shape and to reach a surgical site. At that point the user may
desire, or there may be an automatic determination, that the
pressure within the tube 14 should be caused to be decreased,
increasing the frictional forces within the components of the
variably flexible pipe. In one or more embodiments, the pressure of
the tube 14 may be decreased to a particular user desired,
acceptable, and/or predetermined level to either substantially
minimize or prevent movement between components of the variably
flexible pipe, e.g., so the variably flexible pipe maintains the
deformed and/or inserted shape while at the surgical site.
[0041] Accordingly, if the first end of the deformed variably
flexible pipe 10 reaches a desired position within the body, for
example, and a user or an automated decision maker then desires or
requires maintenance of the shape of the variably flexible pipe 10,
air in the tube 14 may be caused to be removed, e.g., by control of
the pneumatic pump 40. For example, the inner pressure of the tube
14 may be decreased to below atmospheric pressure. Then, exterior
compressing pressure due to atmospheric pressure acting on the
exterior wall of the tube 14, which then acts on the flap members
11, causes the flap parts 11a to be adhered to each other, such as
shown in FIG. 6 as only an example. The frictional force may also
be increased if the interior pressure of the tube 14 is
sufficiently reduced so as to itself apply frictional force to the
remaining components of the variably flexible pipe through an
inward collapsing of the exterior wall of the tube 14, depending on
the material of the tube 14. Accordingly, in one or more
embodiments, such increasing or decreasing of frictional force
between the flap parts 11a respectively suppresses or permits
movement of the neighboring flap parts 11a contacting the flap
parts 11a, and thus deformation of the variably flexible pipe 10 is
respectively suppressed or permitted. Thus, in one or more
embodiments, the suppression of movement may be variably controlled
so as to permit more movement, less movement, or no movement.
[0042] Said another way, in one or more embodiments, the variably
flexible pipe 10 may be controlled to be in a first state in which
the variably flexible pipe 10 is easily deformable, a second state
in which deformation of the variably flexible pipe 10 is
suppressed, or any of one or more different compression force
applying states somewhere between the first and second states,
according to changes of the inner pressure of the tube 14.
[0043] FIG. 7 is an exploded perspective view of a variably
flexible pipe, such as applied in a manipulator, according to one
or more embodiments.
[0044] As shown in FIG. 7, and only as an example, a variably
flexible pipe 10 may include first flap members 111, including
applying such first flap members 111 at least onto a first of two
neighboring link members 122, and second flap members 112, each
including applying such second flap member 112 at least onto a
second of the two neighboring link members 122. In one or more
embodiments, the first and second neighboring link member 122 may
be linked through interlocking portions of each link member 122,
without limiting embodiments that include other linking elements
that may be applied between each link member 122, e.g., so the
first and second flap members 111,112 are respectively applied to
the first and second neighboring link members 122 with such other
linking members therebetween. Here, such one or more embodiments
may include applying the first flap member 111 that includes or
caused to include first flap parts 111a extended in a first
direction, e.g., applying the first flap parts 111a so they are
covering outer circumferential surfaces of example respective first
hinge parts 122a and second hinge parts 122b connecting the two
neighboring link members 122, and the second flap member 112 that
includes or is caused to include second flap parts 112a extended in
a second direction, e.g., opposite to the first direction, applying
the second flap parts 112a so they are covering outer
circumferential surfaces of the first hinge parts 122a and the
second hinge parts 122b.
[0045] In one or more embodiments, the applying of the first and
second flap members may be performed with the first flap member 111
and the second flap member 112 having the same or a greater length
than the circumference of the link member 122, and may include
applying the first and second flap members 111,112 so they are
wound around two link members 122 plural times, as shown in FIG. 7,
as only an example. Here, in an embodiment, the length of the first
and second flap members 111,112 may be greater than plural
circumferences of the link member 122 and the applying of the first
and second flap members 111,112 may include applying, e.g.,
winding, of the first and second flap members 111,112 over multiple
neighboring link members. In FIG. 7, in one or more embodiments,
the illustrated wires 130 may act similarly to the wires 20
described with regard to FIG. 3. In one or more embodiments the
first flap parts 111a and the second flap parts 112a may be applied
so as to be alternately disposed in the radial direction on the
outer surfaces of the first hinge parts 122a and the second hinge
parts 122b, such as shown in FIG. 8 as only an example.
[0046] As illustrated in FIG. 8, a tube 114 accommodates the link
members 122, the first flap members 111, the second flap members
112, an inner circumferential surface 114a of the tube 114, and an
outer circumferential surface 114b of the tube 114 that covers the
first and second flap members 111,112.
[0047] Although one or more embodiments have been described with
the variably flexible pipe 10 including the link members 122 and
the first and second flap members 111,112 disposed on the outer
circumferential surfaces of the link members 112, embodiments are
not limited thereto. As only an example, FIG. 9 illustrates one or
more embodiments where one or more components corresponding to the
one or more link members 122 may not be included in the variably
flexible pipe. In such one or more embodiments, one flap member 211
may be bent or applied in a longitudinal spiral so as to form a
tubular shape, and wires 215 may be employed for support or to
cause the flap member 211 to maintain the tubular shape. Here, the
aforementioned example tube 14 may also be applied in one or more
parts so as to encapsulate both an outer circumference of the one
flap member 211 and wires 215 and an inner circumference of the one
flap member 211 and wires 215. In one or more embodiments, one or
more flap members 211 may be applied in an overlapping manner to
form the same tubular shape.
[0048] Although FIG. 9 illustrates one or more embodiments where
flap parts 211a of the flap member 211 extend in one direction,
e.g., such as the illustrated downward direction of the flap parts
211a from an upper connection part 211b of the flap member 211,
embodiments are not limited thereto. For example, FIG. 10,
according to one or more embodiments, illustrates plural flap parts
extending in different directions for an example one flap member,
where flap parts 311a may extend from a connection part 311b of the
one flap member in both illustrated upward and downward directions.
In one or more embodiments, such different extended directions of
the flap part 311a may configure the variably flexible pipe so that
the flap parts 311a are formed toward an inside as well as an
outside of the variably flexible pipe.
[0049] As is apparent from the above description, a variably
flexible pipe in accordance with one or more embodiments may be
applied or controlled to change frictional force between components
of the variably flexible pipe, e.g., flap parts, by controlling an
adjusting of an inner pressure of a tube surrounding the components
of the variably flexible pipe, and thus flexibility of the variably
flexible pipe is controlled to increase or decrease a capability
for flexing of the variably flexible pipe.
[0050] While aspects of the present invention have been shown and
described with reference to differing embodiments thereof, it
should be understood that these embodiments should be considered in
a descriptive sense only and not for purposes of limitation.
Descriptions of features or aspects within each embodiment should
typically be considered as available for other similar features or
aspects in the remaining embodiments. Suitable results may equally
be achieved if described components are combined in a different
manner and/or replaced or supplemented by other components or their
equivalents.
[0051] Thus, although a few embodiments have been shown and
described, with additional embodiments being equally available, it
would be appreciated by those skilled in the art that changes may
be made in these embodiments without departing from the principles
and spirit of the invention, the scope of which is defined in the
claims and their equivalents.
* * * * *